公开(公告)号：US07010095B2

公开(公告)日：2006-03-07

申请号：US10347821

申请日：2003-01-21

申请人： Matthias Mitschke ,  Dieter Ritter ,  Anders Steiner

发明人： Matthias Mitschke ,  Dieter Ritter ,  Anders Steiner

IPC分类号： G01D18/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/364

摘要： An apparatus for determining a coordinate transformation for mixing an image of a first subject into an X-ray image of a second subject has an arrangement for fastening the apparatus to the second subject, markers that can be acquired by a navigation system, and X-ray-positive marks. The positions and orientations of the markers that can be acquired with the navigation system and the positions and orientations of the X-ray-positive marks relative to one another are thus known, so a coordinate transformation can be determined between a coordinate system allocated to the navigation system and a coordinate system allocated to the X-ray image. Thus an image of the first subject that can be acquired with the navigation system can be mixed into an X-ray image of the second subject.

公开(公告)号：US07050531B2

公开(公告)日：2006-05-23

申请号：US10675301

申请日：2003-09-30

申请人： Axel Hebecker ,  Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

发明人： Axel Hebecker ,  Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

IPC分类号： A61B6/03

CPC分类号： G06T11/006 ,  A61B6/584 ,  G06F19/00 ,  G06T2211/428 ,  Y10S378/901

摘要： In a method for the intraoperative generating of an updated volume dataset, a first volume dataset is reconstructed from a series of n 2D X-ray projections (of a patient that are acquired at different angles. During a medical intervention, m 2D X-ray projections (m

摘要翻译： 在用于术中产生更新的体数据集的方法中，从一系列n个2D X射线投影（以不同角度获取的患者）重建第一体数据集，在医学干预期间，m 2D X射线 从不同的角度获取患者的突出物（m

公开(公告)号：US20050015006A1

公开(公告)日：2005-01-20

申请号：US10860707

申请日：2004-06-03

申请人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter ,  Michael Scheuering

发明人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter ,  Michael Scheuering

IPC分类号： A61B6/00 ,  A61B6/12 ,  G06T7/00 ,  G06T11/00 ,  A61B5/05 ,  G06K9/00

CPC分类号： A61B6/5235 ,  A61B6/12 ,  A61B6/466 ,  A61B6/481 ,  A61B6/504 ,  G06T7/33 ,  G06T2207/30048

摘要： In an image post-processing method and apparatus for 3D visualization of 2D/3D fused image data for use in catheter angiography in an endovascular interventional procedure, upon forward movement of a micro-catheter through blood vessel in the interventional procedure, x-ray images are acquired from different projection directions and are subjected to a pattern recognition algorithm for edge-based segmentation of the image regions filled by the micro-catheter, with all remaining image regions being masked out. The segmented projection exposures are prepared by a 3D reconstruction algorithm to obtain an image data set for (pseudo-) three-dimensional representation of the micro-catheter. This image data set are intraoperatively registered and fused with an image data set acquired from an angiographic pre-examination for three-dimensional visualization of the vessel topography. The reconstructed 3D representation of the catheter is mixed into the three-dimensionally prepared representation of endovascular blood vessel sections to be treated.

摘要翻译： 在用于血管内介入手术的导管血管造影术中的2D / 3D融合图像数据的3D可视化的图像后处理方法和装置中，在介入手术中通过血管向前移动微导管时，x射线图像 从不同的投影方向获取，并且经受用于由微导管填充的图像区域的基于边缘的分割的图案识别算法，其中所有剩余的图像区域被掩蔽。 通过3D重建算法准备分段投影曝光以获得微导管的（伪）三维表示的图像数据集。 该图像数据集在术中注册并与从血管造影检查获取的图像数据集合融合，用于血管形态的三维可视化。 导管的重建3D表示被混合到待治疗的血管内血管切片的三维制备的表示中。

公开(公告)号：US07519414B2

公开(公告)日：2009-04-14

申请号：US10860707

申请日：2004-06-03

申请人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter ,  Michael Scheuering

发明人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter ,  Michael Scheuering

IPC分类号： A61B5/00

CPC分类号： A61B6/5235 ,  A61B6/12 ,  A61B6/466 ,  A61B6/481 ,  A61B6/504 ,  G06T7/33 ,  G06T2207/30048

摘要： In an image post-processing method and apparatus for 3D visualization of 2D/3D fused image data for use in catheter angiography in an endovascular interventional procedure, upon forward movement of a micro-catheter through blood vessel in the interventional procedure, x-ray images are acquired from different projection directions and are subjected to a pattern recognition algorithm for edge-based segmentation of the image regions filled by the micro-catheter, with all remaining image regions being masked out. The segmented projection exposures are prepared by a 3D reconstruction algorithm to obtain an image data set for (pseudo-) three-dimensional representation of the micro-catheter. This image data set are intraoperatively registered and fused with an image data set acquired from an angiographic pre-examination for three-dimensional visualization of the vessel topography. The reconstructed 3D representation of the catheter is mixed into the three-dimensionally prepared representation of endovascular blood vessel sections to be treated.

摘要翻译： 在用于血管内介入手术的导管血管造影术中的2D / 3D融合图像数据的3D可视化的图像后处理方法和装置中，在介入手术中通过血管向前移动微导管时，x射线图像 从不同的投影方向获取，并且经受用于由微导管填充的图像区域的基于边缘的分割的图案识别算法，其中所有剩余的图像区域被掩蔽。 通过3D重建算法准备分段投影曝光以获得微导管的（伪）三维表示的图像数据集。 该图像数据集在术中注册并与从血管造影检查获取的图像数据集合融合，用于血管形态的三维可视化。 导管的重建3D表示被混合到待治疗的血管内血管切片的三维制备的表示中。

公开(公告)号：US20050004449A1

公开(公告)日：2005-01-06

申请号：US10849694

申请日：2004-05-20

申请人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

发明人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

IPC分类号： A61B6/00 ,  A61B6/12 ,  A61B19/00 ,  A61B5/05

CPC分类号： A61B6/12 ,  A61B6/4441 ,  A61B90/36 ,  A61B2090/364

摘要： In a method for marker-less navigation of a medical instrument in preoperative 3D images using an intraoperatively acquired 3D C-arm image, an intraoperative 3D Image is acquired with a C-arm system, the medical instrument brought into registration with regard to the intraoperative 3D image D, whereby a registration matrix MDN is obtained. The intraoperative 3D image is brought into registration with regard to an existing preoperative 3D image by means of image-based registration, whereby a registration matrix is obtained. Navigation of the medical instrument in the preoperative 3D image can then proceed.

摘要翻译： 在使用手术中获取的3D C臂图像的术前3D图像中的医疗仪器的无标记导航的方法中，使用C臂系统获取术中3D图像，医疗器械关于术中 3D图像D，由此获得配准矩阵MDN。 通过基于图像的注册，将术中3D图像关于现有的术前3D图像进行登记，从而获得登记矩阵。 然后可以在术前3D图像中导航医疗仪器。

公开(公告)号：US06912265B2

公开(公告)日：2005-06-28

申请号：US10675297

申请日：2003-09-30

申请人： Axel Hebecker ,  Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

发明人： Axel Hebecker ,  Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

IPC分类号： A61B6/03 ,  A61B6/00 ,  A61B6/02 ,  A61B19/00 ,  G06F17/00 ,  G06T1/00 ,  G06T11/00 ,  G06T15/08 ,  H05G1/00

CPC分类号： G06T11/003 ,  A61B6/584 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/376 ,  G06F19/00 ,  Y10S378/901

摘要： To intraoperatively generate an updated volume data set in which a image information of biological tissue is volume data set representing reconstructed from a series of n 2D biological tissue x-ray projections, one version, in intraoperatively acquired m 2D biological tissue x-ray projections the biological tissue 2D contour is segmented and this is back-projected in the reconstructed volume data set. In another version, in the volume data set the biological tissue 3D contour is segmented and this is projected in intraoperatively acquired m biological tissue 2D x-ray projections. The 3D contour is visually repositioned by projection in the m 2D x-ray projections in the volume data set, until its projection is substantially congruent with the biological tissue image information in the respective 2D x-ray projections. In both versions, a volume data set updated around the intraoperatively determined biological tissue 3D contour is generated.

摘要翻译： 为了在手术中产生更新的体数据集，其中生物组织的图像信息是从一系列n 2D生物组织x射线投影重建的体数据集，一个版本，在术中获得的m 2D生物组织x射线投影中 生物组织2D轮廓被分割，并且这被重新投影在重建的体数据集中。 在另一个版本中，在体数据集中，生物组织3D轮廓被分割，并且这被投射在术中获取的生物组织2D x射线投影中。 通过在体数据集中的m个2D x射线投影中的投影来可视地重新定位3D轮廓，直到其投影与相应的2D x射线投影中的生物组织图像信息基本一致。 在两个版本中，生成围绕术中确定的生物组织3D轮廓更新的体数据集。

公开(公告)号：US07010080B2

公开(公告)日：2006-03-07

申请号：US10850499

申请日：2004-05-20

申请人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

发明人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

IPC分类号： A61B6/03

CPC分类号： A61B6/547 ,  A61B6/12 ,  A61B6/4441 ,  A61B6/504 ,  A61B6/5235 ,  A61B6/5247 ,  G06T7/38 ,  G06T2207/30004 ,  Y10S378/901

摘要： In a method and apparatus for automatic marker-free fusion (matching) of 2D fluoroscopic C-arm images with preoperative 3D images using an intraoperatively acquired 3D data record, an intraoperative 3D image is obtained using a C-arm x-ray system, image-based matching of an existing preoperative 3D image in relation to the intraoperative 3D image is undertaken, which generates a matching matrix of a tool plate attached to the C-arm system is matched in relation to a navigation system, a 2D fluoroscopic image to be matched is obtained, with the C-arm of the C-arm system in any arbitrary location, a projection matrix for matching the 2D fluoroscopic image in relation to the 3D image is obtained, and the 2D fluoroscopic image is fused (matched) with the preoperative 3D image on the basis of the matching matrix and the projection matrix.

摘要翻译： 在使用手术中获取的3D数据记录的2D荧光镜C臂图像与术前3D图像进行自动无标记融合（匹配）的方法和装置中，使用C臂x射线系统获得术中3D图像，图像 进行与术中3D图像相关的现有术前3D图像的匹配，其生成附接到C臂系统的工具板的匹配矩阵相对于导航系统匹配，2D透视图像为 获得与C臂系统的C臂在任意位置匹配的匹配，获得与3D图像相匹配的2D透视图像的投影矩阵，并将2D透视图像与 基于匹配矩阵和投影矩阵的术前3D图像。

公开(公告)号：US06932506B2

公开(公告)日：2005-08-23

申请号：US10383942

申请日：2003-03-07

申请人： Matthias Mitschke ,  Dieter Ritter

发明人： Matthias Mitschke ,  Dieter Ritter

IPC分类号： A61B17/00 ,  A61B19/00 ,  G01D18/00

CPC分类号： A61B6/584 ,  A61B34/20 ,  A61B90/36 ,  A61B2017/00707 ,  A61B2034/2055 ,  A61B2090/376

摘要： A registration method and an apparatus for navigation-guided interventions employing an X-ray device and a position acquisition system and avoid the use of patient-associated markers. By means of a defined arrangement of a carrying arm proceeding from a support mount at the X-ray device and a defined arrangement of an X-ray calibration phantom at the carrying arm, the coordinate transformation between a coordinate system allocated to the support mount and a coordinate system allocated to the X-ray calibration phantom is known. On the basis of the acquisition and evaluation of 2D projections of the X-ray calibration phantom with the X-ray device, a coordinate transformation between the coordinate system allocated to the support mount and a coordinate system allocated to a measurement volume of the X-ray device is produced. By arranging a device detectable by the position acquisition system at the support mount, a coordinate transformation between the coordinate system allocated to the measurement volume and a coordinate system allocated to the calibration phantom is determined for the navigation.

摘要翻译： 一种使用X射线装置和位置获取系统进行导航指导干预的注册方法和装置，并避免使用与患者相关的标记。 通过在X射线装置处的支撑架上进行的承载臂的限定布置以及在承载臂处的X射线校准体模的限定布置，分配给支撑座的坐标系和 分配给X射线校准体模的坐标系是已知的。 基于X射线装置对X射线校准体模的2D投影的获取和评估，分配给支撑座的坐标系与分配给X射线校准体的测量体积的坐标系之间的坐标变换， 射线装置。 通过将位置获取系统可检测的设备布置在支撑座上，确定分配给测量体积的坐标系与分配给校准体模的坐标系之间的坐标转换。

公开(公告)号：US06851855B2

公开(公告)日：2005-02-08

申请号：US10410716

申请日：2003-04-10

申请人： Matthias Mitschke ,  Dieter Ritter

发明人： Matthias Mitschke ,  Dieter Ritter

IPC分类号： A61B6/00 ,  A61B6/12 ,  A61B17/00 ,  A61B19/00 ,  G01D18/00

CPC分类号： A61B6/583 ,  A61B6/4405 ,  A61B6/547 ,  A61B34/20 ,  A61B90/36 ,  A61B2017/00707 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/376

摘要： In a registration method for navigation-guided medical interventions using a position acquisition system, an X-ray device and an X-ray calibration phantom having X-ray-positive marks, the coordinates of marks of the X-ray calibration phantom that are present in the measurement volume of the X-ray device and imaged in the reconstructed volume are determined in a coordinate system allocated to the measurement volume of the X-ray device) and in a coordinate system allocated to the position acquisition system. The coordinate transformation between the coordinate system allocated to the measurement volume and the coordinate system allocated to the position acquisition system is determined on the basis of the coordinates of the X-ray-positive marks in the coordinate system allocated to the measurement volume and on the basis of the coordinates of the X-ray-positive marks in the coordinate system allocated to the position acquisition system.

摘要翻译： 在使用姿势采集系统，X射线装置和具有X射线正标记的X射线校准体模的导航指导医疗干预的登记方法中，存在X射线校准体模的标记坐标 在分配给X射线装置的测量体积的坐标系中）和分配给位置获取系统的坐标系中确定在重建体积中成像的X射线装置的测量体积。 基于分配给测量体积的坐标系和坐标系分配给位置获取系统的坐标系之间的坐标变换是根据分配给测量体积的坐标系中的X射线正的标记的坐标和 在分配给位置获取系统的坐标系中的X射线阳性标记的坐标的基础。

公开(公告)号：US20050027193A1

公开(公告)日：2005-02-03

申请号：US10851259

申请日：2004-05-21

申请人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

发明人： Matthias Mitschke ,  Norbert Rahn ,  Dieter Ritter

IPC分类号： A61B5/05 ,  A61B19/00 ,  G06T7/00 ,  G06T17/00

CPC分类号： A61B34/20 ,  A61B6/12 ,  A61B6/4441 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/376 ,  G06T7/33 ,  G06T7/38 ,  G06T2207/30004

摘要： In a method and apparatus for the automatic merging of 2D fluoroscopic C-arm images with preoperative 3D images with a one-time use of navigation markers, markers in a marker-containing preoperative 3D image are registered relative to a navigation system, a tool plate fixed on the C-arm system is registered in a reference position relative to the navigation system, a 2D C-arm image (2D fluoroscopic image) that contains the image of at least a medical instrument is obtained in an arbitrary C-arm position, a projection matrix for a 2D-3D merge is determined on the basis of the tool plate and the reference position relative to the navigation system, and the 2D fluoroscopic image is superimposed with the 3D image on the basis of the projection matrix.

摘要翻译： 在一次性使用导航标记的2D透视C臂图像与术前3D图像的自动合并的方法和装置中，包含标记的术前3D图像中的标记相对于导航系统，工具板 在C臂系统上固定的参考位置相对于导航系统被记录在参考位置，在任意C臂位置处获得包含至少医疗器械的图像的2D C臂图像（2D透视图像） 基于工具板和相对于导航系统的参考位置确定用于2D-3D合并的投影矩阵，并且基于投影矩阵将2D透视图像与3D图像叠加。